Design and build of a scale model unmanned inland cargo vessel: Actuation and control architecture

Abstract

This study describes the actuation design and construction of an unmanned scale model inland vessel of type CEMT-I. This proposed design could help to increase the competitiveness of smaller inland vessels which are slowly diminishing. Moreover, this idea aligns with the ambition of the European Commission to increase the cargo flow over waterborne transport. Therefore, this study scaled down a recently designed barge of the European project Watertruck+. These barges have a 360-degrees-steerable steering grid in the bow together with a 360-degrees-steerable four-channel thruster at the stern. This configuration unlocks new and more advanced motion control possibilities compared to conventional actuation systems. The performance of this actuation design, at different propeller speeds and angles, was experimentally identified for the scale model. Furthermore, the implemented back-seat driver control paradigm is discussed at its two levels of implementation. Firstly, the lowest level control, to reach certain desired sytem states, is shown. Secondly, the higher level control, the autonomy system provided by the MOOS-IvP software, is discussed and its interaction with the low level control is demonstrated. The authors believe that the combination of this actuation and control design can unlock new cargo transport opportunities for the European inland waterways.